Vehicle control device, vehicle control method, and program

Provided is a vehicle control apparatus capable of preventing sudden deceleration of a vehicle to be controlled even in a case of failure to recognize a step condition at a predetermined position. The vehicle control apparatus 140 is mounted on the vehicle. The vehicle control apparatus 140 includes a position acquisition unit F1 configured to acquire a position of the vehicle, a route acquisition unit F2 configured to acquire a planned route of the vehicle, a recognition unit F3 configured to recognize a stop condition included in image data Dg from an imaging device, a range setting unit F4 configured to set a recognizable range for the stop condition in the planned route, a speed calculation unit F5 configured to calculate a braking speed of the vehicle, the braking speed allowing the vehicle to stop at a stop position corresponding to the stop condition without an acceleration of the vehicle during deceleration exceeding a set value, and a traveling control unit F6 configured to control a speed of the vehicle to the braking speed when the position of the vehicle is included in the recognizable range and the recognition unit fails to recognize the stop condition.